Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder

J.J.T.H. Best, de; M.J.G. Molengraft, van de; M. Steinbuch

doi:10.1109/ICCA.2009.5410329

Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

7 Citations (Scopus)

266 Downloads (Pure)

Abstract

This paper focusses on direct dynamic visual servoing at high sampling rates for machines used for the production of products that inherently consist of equal features placed in a repetitive pattern. A mechanical system is controlled on the basis of vision only. In contrast to kinematic visual servoing approaches, we do not use a hierarchical control structure. More specifically, the motor inputs are driven directly by the vision controller without the intervention of low level joint controllers. The product in view consists of a repetitive pattern, which is used a 1.5D encoder purely on the basis of vision. Using fast image processing and a prediction based on a steady-state Kalman filter a 1 kHz direct visual servoing setup is created capable of using the repetitive pattern as a 1.5D encoder with an accuracy of 50 um. The design is validated on an experimental setup.

Original language	English
Title of host publication	Proceedings of the 7th IEEE International Conference on Control & Automation (ICCA'09)
Place of Publication	New Zealand, Christchurch
Publisher	Institute of Electrical and Electronics Engineers
Pages	361-366
ISBN (Print)	978-1-4244-4706-0
DOIs	https://doi.org/10.1109/ICCA.2009.5410329
Publication status	Published - 2009
Event	conference; ICCA'09, 7th IEEE International Conference on Control & Automation, Christchurch, New Zealand, December 9-11, 2009; 2009-12-09; 2009-12-11 - Duration: 9 Dec 2009 → 11 Dec 2009

Conference

Conference	conference; ICCA'09, 7th IEEE International Conference on Control & Automation, Christchurch, New Zealand, December 9-11, 2009; 2009-12-09; 2009-12-11
Period	9/12/09 → 11/12/09
Other	ICCA'09, 7th IEEE International Conference on Control & Automation, Christchurch, New Zealand, December 9-11, 2009

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10.1109/ICCA.2009.5410329

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Cite this

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title = "Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder",

abstract = "This paper focusses on direct dynamic visual servoing at high sampling rates for machines used for the production of products that inherently consist of equal features placed in a repetitive pattern. A mechanical system is controlled on the basis of vision only. In contrast to kinematic visual servoing approaches, we do not use a hierarchical control structure. More specifically, the motor inputs are driven directly by the vision controller without the intervention of low level joint controllers. The product in view consists of a repetitive pattern, which is used a 1.5D encoder purely on the basis of vision. Using fast image processing and a prediction based on a steady-state Kalman filter a 1 kHz direct visual servoing setup is created capable of using the repetitive pattern as a 1.5D encoder with an accuracy of 50 um. The design is validated on an experimental setup.",

author = "\{Best, de\}, J.J.T.H. and \{Molengraft, van de\}, M.J.G. and M. Steinbuch",

year = "2009",

doi = "10.1109/ICCA.2009.5410329",

language = "English",

isbn = "978-1-4244-4706-0",

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booktitle = "Proceedings of the 7th IEEE International Conference on Control \& Automation (ICCA'09)",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "conference; ICCA\'09, 7th IEEE International Conference on Control \& Automation, Christchurch, New Zealand, December 9-11, 2009; 2009-12-09; 2009-12-11 ; Conference date: 09-12-2009 Through 11-12-2009",

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Best, de, JJTH, Molengraft, van de, MJG & Steinbuch, M 2009, Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder. in Proceedings of the 7th IEEE International Conference on Control & Automation (ICCA'09). Institute of Electrical and Electronics Engineers, New Zealand, Christchurch, pp. 361-366, conference; ICCA'09, 7th IEEE International Conference on Control & Automation, Christchurch, New Zealand, December 9-11, 2009; 2009-12-09; 2009-12-11, 9/12/09. https://doi.org/10.1109/ICCA.2009.5410329

Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder. / Best, de, J.J.T.H.; Molengraft, van de, M.J.G.; Steinbuch, M.
Proceedings of the 7th IEEE International Conference on Control & Automation (ICCA'09). New Zealand, Christchurch: Institute of Electrical and Electronics Engineers, 2009. p. 361-366.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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ER -

Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder

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